JP2007071601A - Route guide device and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a route guide device for performing proper guide corresponding to the scale size of a rotary intersection, or the like. <P>SOLUTION: If a guide object rotary intersection has a large scale (S20:NO), shift to S30 is performed, and 'rotary intersection guide of an outlet number system' is executed. The 'rotary intersection guide of an outlet number system' is a guide for guiding the number of an exit road to be taken based on an entrance road from among a plurality of exit roads existing in the rotary intersection, for example, 'take the second exit road ahead'. Also, if the rotary intersection has a small scale (S20:YES) and a simple shape (S40:YES), shift to S50 is performed, and 'rotary intersection guide of a direction guide system' is executed. The 'rotary intersection guide of a direction guide system' is a guide for guiding the direction of the exit road which is a guide object based on the entrance road into the rotary intersection, for example, 'turn to the right'. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a route guidance device for guiding an exit route of a roundabout.

  In route guidance in a vehicle-mounted navigation system, a circular intersection has a more complicated structure than a general intersection, and it is required to provide a driver with an easy-to-understand guidance method. Here, roundabouts are common in North America, Europe and Australia. Traffic circles in North America, roundabouts in Europe and Australia, and rotarys in Japan. It is a general name.

 Regarding guidance for such roundabouts, there is a method of guiding the exit from which exit after entering the roundabout, for example, “Please exit the second exit” (See Patent Document 1). Such guidance is referred to as “exit number type roundabout guidance”.

On the other hand, based on the angle between the road that enters the roundabout (entrance road) and the road that exits the roundabout (exit road), for example, “turn right” or “turn left”, the entrance road is the reference. There is a method for guiding the direction of the exit path to be guided (see Patent Document 2). Such guidance is referred to as “direction guidance type roundabout guidance”.
Japanese Patent Laid-Open No. 11-72343 Japanese Patent Laid-Open No. 11-51684

  By the way, the above-mentioned roundabouts have various sizes and the number of exit paths (exits). Some have a relatively small size such that the radius of the annular portion is less than 10 m, while others have a relatively large size with a radius of 20 m or more. Also, there are 2-3 exit routes and 5-6 exit routes.

  In this way, there are various differences in the size of the roundabout, but all of the above-mentioned “exit number type roundabout guidance” and “direction guidance type roundabout guidance” It is not that either type of guidance is better for roundabouts.

  In other words, when considering guidance for large-scale roundabouts, “direction guidance type roundabout guidance” is not preferable in the following points. In other words, after entering a large roundabout, for example, you will travel along a curved path with a constant curvature, so the direction sense based on the approach road will gradually shift or become ambiguous. . As a result, there is a possibility that the direction in which the exit path is guided is mistaken and the guided exit path is mistakenly determined. In other words, for example, if you have to make a curve run for 270 ° after exiting a roundabout and leave, you will not know how many times you are currently going on a curve.

  On the other hand, “exit number type roundabout guide” does not cause the above-mentioned problem. In other words, for example, if you follow the guidance “Please leave the second exit”, you do not need to worry about how many times you have been in the curve after entering the roundabout as described above. This is because it is only necessary to be aware of the number of roads.

  On the other hand, when considering guidance for small roundabouts, “direction guidance type roundabout guidance” is more preferable. That is, in this case, since it is easy for the user to grasp the positional relationship between the approach path and the exit path, for example, it is easier to intuitively understand if the guidance is “turn right”. And if it is a small roundabout, there will be no difference in direction feeling such as “I don't know how many times the car is currently driving”.

  On the other hand, in the case of “exit number-type roundabout guidance”, the result does not match the user's sense. In other words, it is intuitively understandable if it is guided to “turn right” as described above, but it is difficult to understand by giving a guidance such as “please leave the 3rd exit”. End up.

  The present invention has been made in view of such problems, and an object of the present invention is to provide a route guidance device that performs appropriate guidance according to the size of the roundabout.

  The route guidance device according to claim 1 made to solve the above problems (in the embodiment, the route guidance function is incorporated in the navigation device 1. Similarly, the reference numerals of corresponding components in the embodiment are in parentheses. Shows the guidance means for guiding the user, and when the set guidance route is a route passing through a roundabout, the guidance means guides the exit route of the roundabout at a predetermined timing. And a route guidance device used during travel of the vehicle. The guidance control means determines whether or not the determination condition that the roundabout is smaller than a predetermined size and has a predetermined simple shape satisfies the determination condition. “Direction guidance type circular crossing guidance” is executed in which the guidance means guides the direction of the exit path to be guided with respect to the approach path. On the other hand, when the determination condition is not satisfied, the “exit number type ring” is used to guide the guide means from which exit path the exit path should be based on among the plurality of exit paths of the circular intersection. Execute “Cross-way guidance”.

  Conventionally, there has been no idea of properly using “direction guidance type roundabout guidance” or “exit number type roundabout guidance”. On the other hand, the route guidance device of the present invention executes “direction guidance type roundabout guidance” when the determination condition “is smaller than a predetermined scale and has a predetermined simple shape” is satisfied. If it does not meet the requirement, “exit number-type roundabout guidance” will be executed.

  When considering guidance for small and simple roundabouts, it is easier for the user to understand the positional relationship between the approach and exit routes. Easy to understand. On the other hand, “exit number-type roundabout guidance” that guides the number of exit routes that should be based on the approach route is considered to be somewhat incompatible with the user's sense in this case. Therefore, in this case, “direction guidance type roundabout guidance” is executed.

  On the other hand, in the guidance for a large-scale roundabout, as described above, there are various unfavorable points in the “direction-guided roundabout guide”. ”Is executed. For example, if you follow the guidance “Please leave the second exit”, you don't have to worry about how many times you have been on the curve after entering the roundabout, only the number of exits Then you can pass through the roundabout properly. In addition, “exit number type roundabout guidance” is executed even when the shape is small but the shape is complicated. For example, if there are five or more exit routes, or if there are four or less exit routes and the directions of the exit routes are close to each other, for example, it is not possible to immediately identify the exit route only with the guidance “turn right” It is possible. Therefore, in this case, for example, “exit number-type roundabout guidance” “please exit the next exit” is easier for the user to understand.

Thus, according to the route guidance apparatus of the present invention, it is possible to perform appropriate guidance according to the size of the roundabout.
By the way, the “predetermined simple shape” in the determination condition may be determined from the following viewpoint. In other words, when the “direction guidance type circular crossing guidance” is executed, it is a simple shape that the user who has given the guidance can easily understand intuitively. For example, a shape as shown in claim 2 is conceivable. That is, when the circular intersection has a shape corresponding to a cross intersection, a T-shaped intersection, or a straight road, it is considered to be “a predetermined simple shape”. In the case of a cross road, T-shaped road, or straight road, this is a “direction-guided circular road guide”, for example, “turn right”, “turn left” or “go straight”. However, this guidance is very easy to understand.

  In addition, regarding the direction guidance of the exit route in the “direction guidance type circular intersection guidance”, as shown in claim 3, in an expression mode that allows the user to intuitively understand whether to turn right, turn left or go straight. It is preferable that this is the guide. In that sense, guidance on the contents such as “turn right”, “turn left”, and “go straight” is also appropriate. Such an expression mode is preferable when the guidance is performed by voice. Of course, guidance may be given by display, and in that case, it may be expressed by arrows such as “→”, “←”, and “↑”.

  When considering a shape corresponding to a cruciform intersection, a T-shaped intersection, or a straight path as a simple shape, for example, it may not be strictly orthogonal. That is, even if it is a simple shape, there is a permissible range. As an example, as shown in claim 4, the angle θ formed by the approach path and the exit path is 90 ° × n (n is an integer other than 0) ± α ° (α is 0 or a positive number), and α is It is possible to prescribe that it is less than 30. This is because if it is within this range, it will be possible to intuitively understand the exit route without being particularly confused when guidance such as “turn right”, “turn left”, or “go straight” is given.

  However, considering that there are individual differences, it is also preferable that the user can manually adjust the value of α that determines the above-described allowable range. In that case, as shown in claim 5, it is sufficient to provide a receiving means for receiving information input by a user's operation, and the guidance control means may execute the following control. That is, the value of α for defining the simple shape is changed and set according to the information input received through the receiving means. Then, it is determined whether or not the determination condition is satisfied based on the angle θ using the changed and set α.

  On the other hand, with regard to the point of “scale below predetermined” in the determination condition, for example, a defining method as shown in claim 6 can be considered. That is, when the total value of the link length of the roundabout or the radius of the roundabout is equal to or less than a predetermined value, the scale is defined as “predetermined scale”.

  Further, when this definition method is actually adopted, for example, as shown in claim 7, it is conceivable to set an upper limit of “predetermined value” by experiment. In other words, when “direction guidance type roundabout guidance” is executed, the subject mistakenly determines the direction of the guided exit road while the vehicle is traveling in a circle on the roundabout. Identify the upper limit roundabout that is considered very unlikely. Then, based on the link length total value or radius of the specified roundabout, the link length total value or the predetermined value of the radius in the determination condition is determined. In this way, it is possible to determine a determination condition that matches the actual user's feeling.

  However, in view of the fact that there are also individual differences in this case, it is a preferable countermeasure that the user can manually adjust the link length total value or the predetermined value of the radius that determines the above-described determination condition. In that case, as shown in claim 8, it is sufficient to provide a receiving means for receiving information input by the user's operation, and the guidance control means may execute the following control. That is, the link length total value or the predetermined value of the radius in the determination condition is changed and set according to the information input received through the receiving unit. Then, it is determined whether or not the determination condition is satisfied based on the changed link length total value or the predetermined radius value.

  Further, as a specific configuration of the guide means, a display means for displaying an image may be provided, an audio output means for outputting sound may be provided, or both of the display means and the sound output means may be provided. May be provided.

  When the guidance means includes voice output means, the guidance control means causes the voice output means to output a guidance voice, so that the exit path in the “direction guidance type circular crossing guidance” is provided. Direction guidance and guidance on the number of exit routes in the “exit number-type roundabout guidance” are executed. In the case of such voice guidance, the user can grasp the guidance contents while continuously watching the scenery of the outside world. Therefore, it is preferable when the user is a driver.

  In addition, a program for causing the route guidance device to function as a guidance control unit in the route guidance device according to any one of claims 1 to 9 as claimed in claim 10 is executed by a computer built in the route guidance device. Also good. In this case, for example, the program is recorded on a computer-readable recording medium such as a flexible disk, a magneto-optical disk, a CD-ROM, a hard disk, a ROM, and a RAM, and the program is stored in the computer as necessary. When loaded and activated, the computer can function as guidance control means of the route guidance device. Further, since the program can be distributed using a network or the like, it is easy to improve the function of the route guidance device.

  Embodiments to which the present invention is applied will be described below with reference to the drawings. The embodiment of the present invention is not limited to the following embodiment, and can take various forms as long as they belong to the technical scope of the present invention.

[Description of Configuration of Navigation Device 1]
FIG. 1 is a block diagram showing a schematic configuration of a navigation device 20 in which the function of the route guidance device of the present invention is incorporated.

  The navigation device 20 is mounted on a vehicle, and a position detector 21 that detects the current position of the vehicle, an operation switch group 22 for inputting various instructions from a user, and various instructions as with the operation switch group 22 are input. A remote control terminal (hereinafter referred to as a remote control) 23a that is possible and separate from the navigation device 20, a remote control sensor 23b that inputs a signal from the remote control 23a, a packet communication network, etc. An external communication device 24 that performs communication, a map data input device 25 that inputs data from a map storage medium in which map data, audio data, and the like are recorded, a display unit 26 that displays a map and various types of information, A voice output unit 27 for outputting a guide voice or the like, a microphone 28 for outputting an electrical signal based on a voice spoken by the user, The position detector 21, the operation switch group 22, the remote control sensor 23 b, the external communication device 24, the map data input device 25, and various processes are executed according to the input from the microphone 28, and the external communication device 24, the display unit 26, and the voice And a control unit 29 that controls the output unit 27.

  The position detector 21 receives a radio wave from a GPS (Global Positioning System) artificial satellite via a GPS antenna (not shown) and outputs a received signal, and a magnitude of rotational motion applied to the vehicle. A gyroscope 21b for detecting the distance and a distance sensor 21c for detecting a distance traveled from the longitudinal acceleration or the like of the vehicle are provided. And the control part 29 calculates the position, direction, speed, etc. of a vehicle based on the output signal from these sensors 21a-21c. Although there are various methods for obtaining the current position based on the output signal from the GPS receiver 21a, either a single positioning method or a relative positioning method may be used.

  The operation switch group 22 includes a touch panel configured integrally with the display surface of the display unit 26, mechanical key switches provided around the display unit 26, and the like. The touch panel and the display unit 26 are laminated and integrated. There are various types of touch panels such as a pressure-sensitive method, an electromagnetic induction method, a capacitance method, or a combination of these methods. It may be used.

The external communication device 24 acquires accident information, traffic jam information, and the like from the VICS information center via an optical beacon or a radio beacon installed on the roadside.
The map data input device 25 is a device for inputting various data stored in a map data storage medium (not shown) (for example, a hard disk or a DVD-ROM). Map data storage media include map data (node data, link data, cost data, background data, road data, name data, mark data, intersection data, facility data, etc.), guidance voice data, voice recognition data Etc. are stored. Note that for roads composed of a plurality of roadways in the same traveling direction separated by a non-passable separation zone, link data and voice data for guidance are assigned to each roadway.

  The display unit 26 is a color display device such as a liquid crystal display, an organic EL display, or a CRT, and any of them may be used. The display screen of the display unit 26 includes a mark indicating the current location identified from the current position of the vehicle detected by the position detector 21 and the map data input from the map data input device 25, a guidance route to the destination, and a name. Additional data such as landmarks and various facility marks can be displayed in an overlapping manner. Also, facility guides can be displayed.

The voice output unit 27 can output facility guides and various guidance voices input from the map data input device 25.
The microphone 28 outputs an electric signal (voice signal) based on the inputted voice to the control unit 29 when the user inputs (speaks) voice. The user can operate the navigation device 20 by inputting various sounds to the microphone 28.

  The control unit 29 is configured around a well-known microcomputer including a CPU, ROM, RAM, SRAM, I / O, and a bus line connecting these components, and is based on a program stored in the ROM and RAM. Various processes. For example, the current position of the vehicle is calculated as a set of coordinates and traveling directions based on each detection signal from the position detector 21, and a map or the like near the current position read via the map data input device 25 is displayed on the display unit 26. The optimal route from the current position to the destination is calculated based on the processing to be performed, the map data stored in the map data input device 25, and the destination set according to the operation of the operation switch group 22 or the remote controller 23a. A route calculation process, a route guidance process for guiding the route by displaying the calculated route on the display unit 26 or outputting it as a voice to the voice output unit 27, and the like are executed.

  The control unit 29 is also configured to execute voice recognition processing. Of course, the processing unit related to speech recognition and the processing unit related to navigation can be configured separately, but here, a configuration capable of executing speech recognition processing is constructed in the control unit 29.

[Explanation of exit route guidance for roundabouts]
Next, of the processes executed by the control unit 29, the exit route guidance process for the roundabout that is characteristic to the navigation device 1 of the present embodiment will be described with reference to the flowchart of FIG.

  This exit route guidance processing of the roundabout is performed until the vehicle reaches a predetermined distance to the roundabout (for example, 500 m to the roundabout, at least at the entrance of the roundabout, during execution of the above-described route guidance processing. This is a process to be executed in the control unit 29 when the required distance is 10 seconds or longer. Note that the above-described route calculation processing, route guidance processing, and the like executed by the navigation device 1 are well-known processing and will not be described here.

(Outline of exit route guidance processing for roundabouts)
When the control unit 29 starts to execute the roundabout exit route guidance process, first, the shape data of the roundabout to be guided is acquired (S10). Map data stored in a map data storage medium (not shown) is read via the map data input device 25, and the shape data of this roundabout is obtained from the data included in the map data.

  Then, it is determined whether or not the guided roundabout is a small scale (this corresponds to “a scale below a predetermined level” in the claims) (S20). A method for determining the size of the roundabout will be described later.

  If it is not a small scale but a large roundabout (S20: NO), the process proceeds to S30, and "exit number type roundabout guidance" is executed. This “exit number type roundabout guidance” is guidance that guides the number of exit paths that are based on the approach path among a plurality of exit paths of the roundabout. For example, “2 Please go out the exit road ahead ".

  On the other hand, if it is a small roundabout (S20: YES), it is determined whether the guidance target roundabout has a simple shape (S40). A method for determining whether or not the shape is simple will be described later.

  If the roundabout is not a simple shape (S40: NO), the process proceeds to S30 and executes the above-mentioned “exit number type roundabout guidance”, but the roundabout is a simple shape. In this case (S40: YES), the process proceeds to S50, and "direction guidance type circular intersection guidance" is executed. This “direction-guided roundabout guidance” is guidance that guides the direction of the exit path to be guided based on the approach path to the roundabout, for example, “turn right”.

  That is, in the present embodiment, the “direction guidance type circular intersection guidance” is executed only when the determination condition that the roundabout is small (S20: YES) and has a simple shape (S40: YES) is satisfied. (S50). On the other hand, if the determination condition is not satisfied, that is, if the roundabout is large (S20: NO), or if it is small but not a simple shape (S40: NO), the “exit number type loop” “Intersection guidance” is executed (S30).

The above is the outline of the exit route guidance process for the roundabout. Subsequently, details of the determination in S20 and S40 will be described in order.
(About the method of judging the size of the roundabout at S20)
In S20, it is determined whether or not the roundabout to be guided is a small scale. Specifically, when the total value of the link length of the roundabout or the radius of the roundabout is equal to or smaller than a predetermined value, the scale is small. Is determined.

  In order to facilitate understanding of the “total value of the link length of the roundabout or the radius of the roundabout”, the description will be made on the assumption of the roundabout as shown in FIG. .

  Therefore, first, data set for the roundabout will be described. This circular intersection is composed of links L1 to L8, and a link L9 serving as an entrance / exit to the inside and outside of the circular intersection with respect to the nodes N1 to N8 which are the end nodes of the links L1 to L8. To L16 are set. Note that the direction of travel of the circular route formed by the links L1 to L8 is determined. In terms of the order of the links, for example, when starting from L1, L1 → L2 → L3 → L4 → L5 → L6 → L7 → L8 This is a one-way street.

Here, it will be described in detail which node is connected to the links L9 to L16, which are entering and exiting the inside and outside of the roundabout.
First, an approach link L9 from the outside of the roundabout is connected to the node N1. Further, the exit link L10 to the outside of the roundabout is connected to the node N2, and the entrance link L11 from the outside of the roundabout is connected to the node N3. An exit link L12 to the outside of the roundabout is connected to the node N4, and an entrance link L13 from the outside of the roundabout is connected to the node N5. An exit link L14 to the outside of the roundabout is connected to the node N6, and an entrance link L15 from the outside of the roundabout is connected to the node N7. And the exit link L16 to the outer side of the circular intersection is connected to the node N8.

(1) Method of calculating the total value of the link lengths of the circular intersections In this case, the lengths of the links L1 to L8 constituting the circular route in the circular intersections may be totaled. Since this link length is originally stored as link information in the map data, it can be read and summed.

(2) Method of calculating the radius of the roundabout For example, it is conceivable to measure the radius of the roundabout in advance and store it in the map data. Therefore, here, a method for calculating the radius of the roundabout based on the node information originally stored as the link information in the map data will be described.

First, a process for acquiring node information constituting a roundabout with reference to the exit road to be guided will be described with reference to the flowchart of FIG.
In the first step S210, initial values of the end point node and the search node i are set. Here, a description will be given assuming a route exiting from the node N6 via the link L14. In this case, the end node is the node N6, and the search node i is a node immediately before the end node on the set route. The end point node (N6) and the initial value (N5) of the search node i are stored in a storage area in the control unit 10.

  In subsequent S220, it is determined whether the search node i does not match the end node. If the search node i is the initial value (N5), both nodes do not match (S220: YES), and the process proceeds to S230. In S230, a link connected to the search node i is acquired. When the search node i = N5, there are three links L5, L6, and L13 to be connected as shown in FIG. However, in S210, the node N5 connected to the end point node N6 on the set route via the link L6 is set as the initial value of the search node i. As described above, since this processing routine is a process for acquiring node information constituting a roundabout with reference to the exit road, the link L6 may be excluded from the candidates here. Accordingly, the links acquired in S230 are two links L5 and L13 when the search node i = N5.

  In subsequent S240, it is determined whether there is a link having a roundabout attribute among the links acquired in S230. In addition, since ID which shows that it is a roundabout road corresponding to link ID is set to map data, it can determine by referring to it.

  If there is no link having a roundabout attribute (S240: NO), the process is terminated as it is. If there is a link having a roundabout attribute (S240: YES), the process proceeds to S250. If the search node i = N5, there is a link L5 having a roundabout attribute, and the process proceeds to S250.

  In S250, the terminal node of the link having the roundabout attribute is acquired. In the case of the link L5, the terminal node is N4. This terminal node N4 is stored in a storage area in the control unit 29.

  Then, the process returns to S220, and this time, the processing of S220 to S350 is executed with search node i = N4. As a result, in S250, N3, N2, N1, N8, and N7 are sequentially acquired as termination nodes. Since the link having the circle attribute connected to the node N7 is L7, and the terminal node N6 of the link L7 matches the terminal node, a negative determination is made in S220, and this processing routine is terminated.

  Once the node information has been acquired in this way, the radius of the roundabout is calculated as follows. In other words, the maximum value Xmax and minimum value Xmin of the X axis and the maximum value Ymax and minimum value Ymin of the Y axis of the coordinates constituting the roundabout are obtained using the node information of the roundabout attribute. Specifically, in the case of the roundabout shown in FIG. 3B, the coordinates (Xn, Yn) (n = n) in the map data of the eight nodes N1 to N8 constituting the roundabout 1 to 8) are compared, and the maximum value and the minimum value of the X axis and the Y axis are obtained. Then, the maximum diameter C is obtained using the maximum and minimum X and Y coordinates (Xmax, Xmin, Ymax, Ymin). Specifically, in FIG. 3A, when the diameter in the X-axis direction is C1 and the diameter in the Y-axis direction is C2, C1 = Xmax−Xmin and C2 = Ymax−Ymin. The larger one is the maximum diameter C. In the case shown in FIG. 3A, since the diameter C1 in the X-axis direction is larger, C = C1.

When the total value of the link length of the roundabout calculated in this way is less than a predetermined value, or when the radius C of the roundabout is less than a predetermined value, it is determined that the roundabout is small.
The predetermined value may be determined by experiment, for example. In other words, when “direction guidance type roundabout guidance” is executed, the subject mistakenly determines the direction of the guided exit road while the vehicle is traveling in a circle on the roundabout. Identify the upper limit roundabout that is considered very unlikely. Then, based on the link length total value or radius of the specified roundabout, the link length total value or the predetermined value of the radius in the determination condition is determined. In this way, it is possible to determine a determination condition that matches the actual user's feeling.

(Simple shape determination method in S40)
In S40, it is determined whether or not the roundabout to be guided has a simple shape. A method for determining whether or not this roundabout has a simple shape will be described.

  This “simple shape” is determined from the viewpoint that it is a simple shape that is easy for the user who has given the guidance to understand intuitively when “direction guidance type roundabout guidance” is executed. Yes. In the present embodiment, the circular intersection is a cross intersection as shown in FIG. 4 (a), a T-shaped intersection as shown in FIGS. 4 (b) and 4 (c), or as shown in FIG. 4 (d). It is assumed that the shape is a simple shape when the shape corresponds to a straight line. In the case of a cross road, T-shaped road, or straight road, the direction guidance method of the circular cross road guide, for example, “Right turn”, “Left turn”, “Straight go” is only provided. This is because such content guidance is very intuitive.

  4 (a) to 4 (d) schematically represent a circular intersection. For example, in the case of the cross intersection shown in FIG. 4 (a), as shown in FIG. 4 (e). If the approach and exit routes are clearly separated like two roads, the approach and exit routes are separated only by lane marks as shown in FIG. 4 (f). is there. Note that the shape shown in FIG. 4 (e) is mainly found on large roundabouts, and the shape shown in FIG. 4 (f) is often found on small roundabouts. In the case of the T-shaped intersection shown in FIGS. 4B and 4C, since only one road is connected as compared with the cross intersection, no detailed explanation will be given. In the case of the straight road shown in FIG. 4 (d), it is called a roundabout, but actually, there is a portion that cannot be driven at the center of the road as shown in FIG. It assumes a shape that must be done. In the case of such a shape, since the type of roundabout is set, it is also included.

  By the way, when considering a shape corresponding to a cruciform intersection, a T-shaped intersection, or a straight path as a simple shape, it may not be strictly orthogonal, for example. That is, even if it is a simple shape, there is a permissible range. For example, in the cross road shown in FIG. 4 (f), the angle θ formed between the approach road and the next exit road is not just 90 °, but is about 70 ° or 110 °. Even this level may be considered as a crossroad.

  Therefore, conditions for determining a simple shape are defined as follows. That is, it is assumed that the circular intersection is a cross intersection, a T-shaped intersection, or a straight road. Then, as shown in FIG. 5 (a), the angle θ formed by the entrance link L1 and the exit link L2 of the roundabout is 90 ° × n (n is an integer other than 0) ± α ° (α is 0 or If it is defined as (positive number), the condition is that α is less than 30. This is because if it is within this range, it will be possible to intuitively understand the exit route without being particularly confused when guidance such as “turn right”, “turn left”, or “go straight” is given.

  Accordingly, the “direction guidance type circular intersection guidance” in S50 is as follows according to the angle θ (°) formed by the entrance link L1 and the exit link L2. Here, the clockwise direction is positive.

60 <θ ≦ 120… turn right, turn right at the roundabout, etc. −30 ≦ θ ≦ 30… go straight, straight at the roundabout, etc. −120 <θ ≦ −60… turn left, roundabout To the left, etc. [Effects of the embodiment]
As mentioned above, although the structure and operation | movement of this embodiment were demonstrated, according to the navigation apparatus 1 of this embodiment, the appropriate guidance according to the magnitude of the magnitude | size of a roundabout can be performed. A specific guidance example will be described.

  As shown in FIG. 5 (b), a small-scale and simple shape (here, a crossroad) circular intersection A and a large-scale circular intersection B are set. Assume that the link a shown in b) is taken as an approach path, and the user exits the link i via the link a → link b → link c → link d → link e → link f → link g.

  Since the roundabout A is small (S20: YES in FIG. 2) and has a simple shape (S40: YES), the process proceeds to S50. Therefore, “direction guidance type roundabout guidance” is made, and specifically, “turn right” or “turn right at the roundabout” is given. And since the circular intersection B is large-scale (S20: NO), it transfers to S30. Therefore, “exit number type roundabout guidance” is made, and specifically, “please exit the third exit of the roundabout” is given.

  When considering guidance for a small and simple roundabout like the roundabout A in FIG. 5B, it is easy for the user to grasp the positional relationship between the entrance and exit, It is easier to understand intuitively if you are guided to “turn right”. On the other hand, “exit number-type roundabout guidance” that guides the number of exit routes that should be based on the approach route is considered to be somewhat incompatible with the user's sense in this case. Therefore, in this case, “direction guidance type roundabout guidance” (S50 in FIG. 2) is executed.

  On the other hand, in the guidance for a large roundabout such as the roundabout B shown in FIG. 5B, as described in the section “Problems to be solved by the invention”, the “direction guidance method” Since there are various unfavorable points in the “circular crossing road guide”, the “exit number type circular crossing road guide” (S30 in FIG. 2) is executed. For example, if you follow the guidance “Please leave the second exit”, you don't have to worry about how many times you have been on the curve after entering the roundabout, only the number of exits Then you can pass through the roundabout properly.

  Further, even if the scale is small (S20: YES in FIG. 2), even in the case of a complicated shape (S40: NO), the process proceeds to S30 and “exit number type roundabout guidance” is executed. For example, if there are five or more exit routes, or if there are four or less exit routes and the directions of the exit routes are close to each other, for example, it is not possible to immediately identify the exit route only with the guidance “turn right” It is possible. Therefore, in this case, for example, “exit number-type roundabout guidance” “please exit the next exit” is easier for the user to understand.

[Other Embodiments]
Hereinafter, other embodiments will be described.
(A) In the above-described embodiment, as a condition for the “simple shape” in S40 of FIG. 2, it is assumed that the circular intersection is a cross intersection, a T-shaped intersection, or a straight path, and further, a circular intersection. When the angle θ formed by the road entrance link L1 and the exit link L2 is defined as 90 ° × n (n is an integer other than 0) ± α ° (α is 0 or a positive number), the α is less than 30. The condition was adopted. This is because, within this range of angles, we thought that it was possible to intuitively understand the exit route without being particularly confused when guidance such as “turn right”, “turn left”, or “go straight” was given. .

  However, considering that there are individual differences, the user may be able to manually adjust the value of α that determines the allowable range. In that case, for example, information input from the user is received via the operation switch group 22 or the like, and the value of α for defining a simple shape is changed and set according to the received information input. For example, a user who feels that the sense of discomfort is somewhat large at ± 30 ° may be set to α = 15. In this way, the simple shape condition is not satisfied unless it is within the range of 90 ° × n ± 15 °.

  (B) In the above-described embodiment, “the total value of the link length of the roundabout” or “the radius of the roundabout” is defined as a condition for defining “the roundabout is small” in S20 of FIG. The condition of being below a predetermined value was adopted.

  With regard to this condition as well, how much of the roundabout is perceived as “small” (that is, if it is small and has a simple shape, “direction-guided roundabout guidance” is made. In view of this, there is a difference between individuals regarding whether or not it is preferable to provide guidance. Therefore, the user can manually adjust the link length total value or the predetermined radius value that determines the above-mentioned determination conditions. May be. As in the case of (a) above, for example, information input from the user is accepted via the operation switch group 22 and the like, and the link length total value or the predetermined radius value that determines the determination condition is determined according to the received information input. Change settings. Then, based on the changed link length total value or the predetermined radius value, the determination of S20 is executed.

  For example, if the radius of the roundabout is about 10 m, it seems that many users feel that it is preferable when “direction guidance type roundabout guidance” is performed. However, for example, in the case of a roundabout having a radius of about 20 m, it is assumed that many users feel that “guidance is difficult to understand” when “direction guidance type roundabout guidance” is performed. However, on the contrary, even for a roundabout with a radius of about 20m, there may be users who feel that "direction guidance type roundabout guidance" is easier to understand than "exit number type roundabout guidance". Absent. Therefore, it is preferable that manual adjustment is possible in order to eliminate such individual differences.

It is a schematic block diagram of a navigation apparatus. It is a flowchart for demonstrating the exit route guidance process of a roundabout. (A) is explanatory drawing of the structure of the link of a roundabout and a node, (b) is a flowchart of a node acquisition process. It is explanatory drawing of the circular intersection of a simple shape. (A) is explanatory drawing of the angle made between links, (b) is explanatory drawing which shows the example of guidance in the case of performing suitable guidance according to the magnitude of the magnitude | size of a roundabout.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus, 21 ... Position detector, 21a ... GPS receiver, 21b ... Gyroscope, 21c ... Distance sensor, 22 ... Operation switch group, 23a ... Remote control, 23b ... Remote control sensor, 24 ... External communication device, 25 ... Map data input device, 26 ... display section, 27 ... voice output section, 28 ... microphone, 29 ... control section.

Claims (10)

Guidance means for guiding the user;
Guidance control means for guiding the exit means of the roundabout at a predetermined timing to the guidance means when the set guidance route is a route passing through the roundabout,
In the route guidance device used while the vehicle is running,
The guidance control means includes
Determining whether or not the circular intersection satisfies a determination condition that the scale is less than a predetermined size and has a predetermined simple shape;
If the determination condition is satisfied, execute a “direction-guided roundabout guidance” that guides the guidance means the direction of the exit path to be guided with respect to the approach path to the roundabout,
On the other hand, if the determination condition is not satisfied, the “exit number” is used to guide the guide means about which exit route with reference to the approach route out of the plurality of exit routes the circular intersection has. Route guidance device characterized by executing a “circular crossing road guide”. The route guidance device according to claim 1,
The predetermined simple shape in the determination condition is that the circular intersection is a shape corresponding to a cross intersection, a T-shaped intersection, or a straight path. In the route guidance device according to claim 2,
The direction guidance of the exit route in the above-mentioned “direction guidance type circular intersection guidance” is guidance in an expression mode that allows the user to intuitively understand whether to turn right, turn left, or go straight. Guide device. In the route guidance device according to claim 2 or 3,
The shape corresponding to the cruciform intersection, T-shaped intersection, or straight path as the simple shape is that the angle θ formed by the approach path and the exit path is 90 ° × n (n is an integer other than 0) ± α ° (α Is 0 or a positive number), and α is less than 30. In the route guidance device according to claim 4,
A reception means for receiving information input by the user's operation is provided,
The guidance control means includes
In response to the information input received through the receiving means, the α value for defining the simple shape is changed and set,
A route guidance device that determines whether or not the determination condition is satisfied based on the angle θ formed using the changed and set α. In the route guidance apparatus in any one of Claims 1-5,
The scale below the predetermined in the determination condition is that the total value of the link lengths of the roundabout or the radius of the roundabout is below a predetermined value. In the route guidance device according to claim 6,
According to an experiment, when the “direction-guided roundabout guidance” is executed, the subject erroneously determines the direction of the guided exit road while the vehicle is traveling in a circle on the roundabout. Identify a high-end roundabout that is considered very unlikely,
A route guidance device characterized in that a predetermined value of the total link length or radius in the determination condition is determined based on the total link length or radius of the specified roundabout. In the route guidance device according to claim 6 or 7,
A reception means for receiving information input by the user's operation is provided,
The guidance control means includes
In response to the information input received through the receiving means, the link length total value or the predetermined value of the radius in the determination condition is changed and set,
A route guidance device that determines whether or not the determination condition is satisfied based on the changed link length total value or a predetermined radius value. In the route guidance apparatus in any one of Claims 1-8,
The guide means has at least sound output means for outputting sound,
The guidance control means causes the voice output means to output a guidance voice so that the direction guidance of the exit road in the “direction guidance type roundabout guidance” and the “exit number type roundabout guidance” A route guidance device that performs guidance on what exit route to exit.   The program for functioning a computer as the said guidance control means in the route guidance apparatus in any one of Claims 1-9.

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